Leuze electronic rotoScan ROD4 plus Series User manual

rotoScan ROD4… plus
Laser scanner
en 05-2015/08 50127551 We reserve the right to make technical changes
ORIGINAL OPERATING INSTRUCTIONS

Leuze electronic ROD4… plus 1
Inhaltsverzeichnis
1 General information ........................................................................................................... 6
1.1 Explanation of symbols ........................................................................................................ 6
1.2 Declaration of conformity ..................................................................................................... 6
2 Safety .................................................................................................................................. 7
2.1 Intended use ........................................................................................................................ 7
2.2 Foreseeable misuse............................................................................................................. 8
2.3 Competent persons.............................................................................................................. 8
2.4 Exemption of liability ............................................................................................................ 8
2.5 Laser safety notices ............................................................................................................. 9
2.6 Restrictions with regards to use ........................................................................................... 9
3 Description ....................................................................................................................... 10
3.1 Technical overview ............................................................................................................ 10
3.1.1 Object measurement ................................................................................................................... 11
3.1.2 Object detection (only ROD4 plus and ROD4-08 plus) ............................................................... 11
3.2 Operating principle............................................................................................................. 12
3.2.1 Measurement function ................................................................................................................. 13
3.2.2 Switching function (only ROD4 plus and ROD4-08 plus) ............................................................ 13
3.3 Special features of the ROD4…plus .................................................................................. 14
3.4 Application examples .........................................................................................................15
3.4.1 Object measurement: .................................................................................................................. 15
3.4.2 Object detection (only ROD4 plus and ROD4-08 plus) ............................................................... 16
4 Mounting........................................................................................................................... 19
5 Electrical connection ....................................................................................................... 20
5.1 Connecting the rotoScan ROD4…plus .............................................................................. 20
5.1.1 Connection functions Y1 to Y4 .................................................................................................... 21
5.1.2 Connector assignments for connection Y1.................................................................................. 22
5.1.3 Connector assignments for connection Y2 (Ethernet)................................................................. 22
5.1.4 Connector assignments for connection Y3 (service) ................................................................... 23
5.1.5 Connector assignments for connection Y4 (RS 232/RS 422)...................................................... 24
5.2 Functions of connection Y1................................................................................................ 25
5.2.1 Input circuit .................................................................................................................................. 25
5.2.2 Output circuit................................................................................................................................ 27
5.2.3 Restart ......................................................................................................................................... 28
5.3 Functions of connection Y2................................................................................................ 28
5.3.1 Y2 default settings ....................................................................................................................... 28
5.4 Functions of connection Y3................................................................................................ 29
5.4.1 Y3 default settings ....................................................................................................................... 29
5.5 Functions of connection Y4................................................................................................ 29
5.5.1 Y4 default settings ....................................................................................................................... 29
5.6 Connection......................................................................................................................... 30
5.6.1 Electrical supply........................................................................................................................... 30

2 ROD4… plus Leuze electronic
Inhaltsverzeichnis
5.6.2 Button for restarting (only ROD4 plus and ROD4-08 plus) ..........................................................30
5.7 Integration in the control system (only ROD4 plus and ROD4-08 plus)............................. 31
5.7.1 Connection example 1: without detection field pair switch...........................................................31
5.7.2 Connection example 2: with detection field pair switch ................................................................32
6 Start-up ............................................................................................................................. 33
6.1 Hardware and software requirements................................................................................ 33
6.2 Device configuration .......................................................................................................... 33
6.2.1 Configuring measurement applications with RODplussoft ...........................................................34
6.2.2 Selecting the measurement data protocol....................................................................................34
6.2.3 Defining detection fields with RODsoft
(only ROD4 plus and ROD4-08 plus)35
6.3 Screwing down and aligning the device............................................................................. 36
6.4 Switch on the device .......................................................................................................... 36
7 Testing and maintenance................................................................................................ 37
7.1 Test .................................................................................................................................... 37
7.2 Cleaning............................................................................................................................. 37
8 Delivery contents and accessories ................................................................................ 38
8.1 Type overview.................................................................................................................... 38
8.2 Accessories........................................................................................................................ 38
8.2.1 Pin assignments KB-014S-…-14..................................................................................................39
8.2.2 KB-ROD4plus… pin assignments ................................................................................................39
8.2.3 Pin assignment KB ET-…-SA-RJ45 (crossover cable) ................................................................39
8.2.4 Pin assignments KB ET-…-SA.....................................................................................................40
8.2.5 Pin assignments K-D M12A-8P-…...............................................................................................40
8.2.6 BT ROD4 mounting system..........................................................................................................41
9 Technical data .................................................................................................................. 42
9.1 Object measurement.......................................................................................................... 42
9.2 Detection field data (only ROD4 plus and ROD4-08 plus)................................................. 42
9.3 Electrical data .................................................................................................................... 43
9.4 Software............................................................................................................................. 44
9.5 Optical data........................................................................................................................ 44
9.6 Environmental data ............................................................................................................ 48
9.7 Dimensioned drawing ROD4…plus ................................................................................... 49
10 Status messages, errors and error rectification ........................................................... 50
10.1 Ethernet status indicator .................................................................................................... 50
10.2 ROD4…plus status indicator.............................................................................................. 51
10.2.1 Status displays .............................................................................................................................52
10.3 Diagnostic codes and causes ............................................................................................ 52
11 Appendix........................................................................................................................... 56
11.1 Terms and abbreviations ROD4…plus .............................................................................. 56

4 ROD4… plus Leuze electronic
Abbildungs- und Tabellenverzeichnis Leuze electronic
Table 3.1: Device types............................................................................................................... 10
Figure 3.1: Detection fields........................................................................................................... 11
Figure 3.2: Working range and angular resolution ....................................................................... 12
Figure 3.3: Operating principle ..................................................................................................... 12
Figure 3.4: Application example - gripping system....................................................................... 15
Figure 3.5: Application example - gantry crane ............................................................................ 15
Figure 3.6: Application example - dimension measurement......................................................... 16
Figure 3.7: Application example - service robot ........................................................................... 16
Figure 3.8: Application example - automatic parking garage ....................................................... 17
Figure 3.9: Application example - high-bay warehouse................................................................ 17
Figure 5.1: Connecting the rotoScan ROD4…plus....................................................................... 20
Table 5.1: Connections of the ROD4…plus – Y1 to Y4 .............................................................. 21
Table 5.2: Pin assignments for connection Y1 ............................................................................ 22
Table 5.3: Pin assignments for connection Y2 ............................................................................ 22
Table 5.4: Connection M12 to M12 (1:1) .................................................................................... 23
Table 5.5: Connection M12 to RJ45 (1:1) ................................................................................... 23
Table 5.6: Pin assignments for connection Y3 ............................................................................ 23
Table 5.7: Pin assignments for connection Y4 ............................................................................ 24
Figure 5.2: Inputs of interface Y1 ................................................................................................. 25
Figure 5.3: Example: Detection field pair switch for a DTS application ........................................ 26
Figure 5.4: Outputs of interface X1............................................................................................... 27
Figure 5.5: Connection example without detection field pair switch ............................................. 31
Figure 5.6: Connection example with detection field pair switch .................................................. 32
Figure 6.1: User interface of the RODsoft configuration software ................................................ 35
Figure 8.1: Dimensioned drawing BT ROD4 ................................................................................ 41
Table 9.1: Technical data - object measurement ........................................................................ 42
Table 9.2: Technical data - detection fields................................................................................. 42
Table 9.3: Technical data - electrical data................................................................................... 44
Table 9.4: Technical data - software ........................................................................................... 44
Table 9.5: Technical data - optical data ...................................................................................... 45
Figure 9.1: Object size/diffuse reflection as a function of distance for the ROD4… plus ............. 46
Figure 9.2: Typical beam dimensions with the ROD4…plus ........................................................ 47
Table 9.6: Technical data - environmental data .......................................................................... 48
Figure 9.3: Dimensioned drawing ROD4…plus............................................................................ 49
Figure 10.1: Ethernet status indicator............................................................................................. 50
Figure 10.2: ROD4…plus status indicator ...................................................................................... 51
Table 10.1: Status displays on the rotoScan ROD4…plus............................................................ 52
Table 10.2: ROD4…plus - Diagnostic codes and causes ............................................................. 53

Leuze electronic ROD4… plus 5
Abbildungs- und Tabellenverzeichnis

General information
4 ROD4… plus Leuze electronic
1 General information
1.1 Explanation of symbols
The symbols used in this technical description are explained below.
Attention!
This symbol precedes text messages which must strictly be observed. Failure to comply with
this information results in injuries to persons or damage to the equipment.
Attention Laser!
This symbol warns of possible danger caused by hazardous laser radiation.
The laser used in the ROD4…plus is a laser device of laser safety class 1 acc. to
DIN EN 60825-1. Observe the legal and local regulations applicable to the operation of laser
units.
Notice!
This symbol indicates text passages containing important information.
1.2 Declaration of conformity
The rotoScan ROD4… plus distance sensors have been manufactured observing current
European standards and guidelines.
Notice!
The corresponding declaration of conformity can be requested from the manufacturer.
The manufacturer of the product, Leuze electronic GmbH + Co. KG in D-73277 Owen/Teck,
possesses a certified quality assurance system in accordance with ISO 9001.
UL
US
C
LISTED

Safety
Leuze electronic ROD4… plus 5
TNT 35/7-24V
2Safety
This sensor was developed, manufactured and tested in line with the applicable safety stan-
dards. It corresponds to the state of the art.
2.1 Intended use
The ROD4… plus is an optical, two-dimensional measuring distance sensor.
Areas of application
The sensors of the ROD4… plus series are especially designed for the following areas of
application:
• Height/position detection
• Overshoot detection (e.g. in fully automatic parking systems)
• Buffing protection (e.g. for telpher lines)
• Contour measurement
• Packet measurement / volume measurement
Attention
For UL applications, use is only permitted in Class 2 circuits in accordance with the NEC
(National Electric Code).
CAUTION
Observe intended use!
Only operate the device in accordance with its intended use. The protection of per-
sonnel and the device cannot be guaranteed if the device is operated in a manner not
complying with its intended use.
Leuze electronic GmbH + Co. KG is not liable for damages caused by improper use.
Read the technical description before commissioning the device. Knowledge of this
technical description is an element of proper use.
NOTICE
Comply with conditions and regulations!
Observe the locally applicable legal regulations and the rules of the employer's liability
insurance association.
OPERATION NOTICE IN ACCORDANCE WITH UL CERTIFICATION:
CAUTION – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous light exposure.
ATTENTION ! Si d'autres dispositifs d'alignement que ceux préconisés ici sont util-
isés ou s'il est procédé autrement qu'indiqué, cela peut entraîner une exposition à
des rayonnements et un danger pour les personnes.

Safety
6 ROD4… plus Leuze electronic
2.2 Foreseeable misuse
Any use other than that defined under "Intended use" or which goes beyond that use is
considered improper use.
In particular, use of the device is not permitted in the following cases:
• Rooms with explosive atmospheres
• Circuits relevant to safety
• For medical purposes
2.3 Competent persons
Connection, mounting, commissioning and adjustment of the device must only be carried
out by competent persons.
Prerequisites for competent persons:
• They have a suitable technical education.
• They are familiar with the rules and regulations for occupational safety and safety at
work.
• They are familiar with the technical description of the device.
• They have been instructed by the responsible person on the mounting and operation
of the device.
Certified electricians
Electrical work must be carried out by a certified electrician.
Due to their technical training, knowledge and experience as well as their familiarity with
relevant standards and regulations, certified electricians are able to perform work on elec-
trical systems and independently detect possible dangers.
In Germany, certified electricians must fulfill the requirements of accident-prevention regu-
lations BGV A3 (e.g. electrician foreman). In other countries, there are respective regula-
tions that must be observed.
2.4 Exemption of liability
Leuze electronic GmbH + Co. KG is not liable in the following cases:
• The device is not being used properly.
• Reasonably foreseeable misuse is not taken into account.
• Mounting and electrical connection are not properly performed.
• Changes (e.g., constructional) are made to the device.
NOTICE
Do not modify or otherwise interfere with the device.
Do not carry out modifications or otherwise interfere with the device.
The device must not be tampered with and must not be changed in any way.
The device must not be opened. There are no user-serviceable parts inside.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.

Safety
Leuze electronic ROD4… plus 7
TNT 35/7-24V
2.5 Laser safety notices
2.6 Restrictions with regards to use
• Glass, highly reflective materials such as mirrors (luminosity coefficient > 10,000%)
as well as objects which do not reflect any light back to the sensor could falsify the
measurement value. Additional notices can be found in chapter 9.5.
• Do not expose the ROD4… plus to flying sparks (e.g. welding sparks); the front cover,
among other parts of the system, will be damaged.
• Vapours, smoke, dust and all particles visible in the air could affect the measurement
values and cause the semiconductor outputs to switch off.
• Avoid large temperature fluctuations.
• If a protective housing is provided for the sensor, the detection must not occur through
additional window material (plastic, glass, etc.).
• Physical contact with the front cover of the sensor and the six diffused-light windows
is to be avoided.
ATTENTION, INVISIBLE LASER RADIATION – LASER CLASS 1
The device fulfills the EN 60825-1:2007 safety regulations for a product in laser class 1
as well as the U.S. 21 CFR 1040.10 regulations with deviations corresponding to "Laser
Notice No. 50" from June 24th, 2007.
Observe the applicable statutory and local laser protection regulations.
The device must not be tampered with and must not be changed in any way.
There are no user-serviceable parts inside the device.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.

Description
8 ROD4… plus Leuze electronic
3 Description
3.1 Technical overview
Table 3.1: Device types
The ROD4…plus is an optical, two-dimensional measuring distance sensor. It could also be
referred to as an optical, area radar unit. The device periodically transmits light pulses within
an scanning angle of 190° via a rotating deflector unit.
If the pulses are incident upon objects or obstacles, the light is reflected and then received
and analysed by the ROD4…plus. From the propagation time of the radiated light and the
current angle of the deflector unit, the ROD4…plus unit calculates the exact coordinates of
the object.
These data can be used by the ROD4…plus for 2 different areas of application:
1. Object measurement
An angular resolution of 0.36° allows the distance to objects to be measured with an
accuracy of 5mm within the measurement range drawn in figure 3.1.
2. Object detection (only ROD4 plus and ROD4-08 plus)
Detection field contours can be defined within the detection fields drawn in figure 3.1.
If an object is located within these detection field contours, this is reported by the
ROD4…plus to the configurable switching outputs.
For object measurement tasks, the device is configured using the RODplussoft software.
Designation Design Part no.
ROD4 plus For object detection / object measurement, scanning rate
25scans/s 50106481
ROD4-08 plus
For object detection / object measurement, scanning rate
25scans/s,
with heating, dust-insensitive
50106480
ROD4-50 plus For object measurement, scanning rate 50scans/s 50113226
ROD4-56 plus For object measurement, scanning rate 50scans/s, with
heating 50129795
ROD4-58 plus For object measurement, scanning rate 50scans/s
with heating, dust-insensitive 50113225